/*
    Copyright (C) 2010  ARToolkitPlus Authors

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.

    Authors:
      Daniel Wagner
      Pavel Rojtberg
 */




#include <ARToolKitPlus/arGetInitRot2Sub.h>
#include <ARToolKitPlus/Tracker.h>


namespace ARToolKitPlus {


 int
Tracker::arGetInitRot2(ARMarkerInfo *marker_info, ARFloat rot[3][3], ARFloat center[2], ARFloat width)
{
	rpp_float err = 1e+20;
	rpp_mat R, R_init;
	rpp_vec t;

	int dir = marker_info->dir;
	rpp_vec ppos2d[4];
	rpp_vec ppos3d[4];
	const unsigned int n_pts = 4;
	const rpp_float model_z =  0;
	const rpp_float iprts_z =  1;

	ppos2d[0][0] = marker_info->vertex[(4-dir)%4][0];
	ppos2d[0][1] = marker_info->vertex[(4-dir)%4][1];
	ppos2d[0][2] = iprts_z;
	ppos2d[1][0] = marker_info->vertex[(5-dir)%4][0];
	ppos2d[1][1] = marker_info->vertex[(5-dir)%4][1];
	ppos2d[1][2] = iprts_z;
	ppos2d[2][0] = marker_info->vertex[(6-dir)%4][0];
	ppos2d[2][1] = marker_info->vertex[(6-dir)%4][1];
	ppos2d[2][2] = iprts_z;
	ppos2d[3][0] = marker_info->vertex[(7-dir)%4][0];
	ppos2d[3][1] = marker_info->vertex[(7-dir)%4][1];
	ppos2d[3][2] = iprts_z;

	ppos3d[0][0] = center[0] - width*(ARFloat)0.5;
	ppos3d[0][1] = center[1] + width*(ARFloat)0.5;
	ppos3d[0][2] = model_z;
	ppos3d[1][0] = center[0] + width*(ARFloat)0.5;
	ppos3d[1][1] = center[1] + width*(ARFloat)0.5;
	ppos3d[1][2] = model_z;
	ppos3d[2][0] = center[0] + width*(ARFloat)0.5;
	ppos3d[2][1] = center[1] - width*(ARFloat)0.5;
	ppos3d[2][2] = model_z;
	ppos3d[3][0] = center[0] - width*(ARFloat)0.5;
	ppos3d[3][1] = center[1] - width*(ARFloat)0.5;
	ppos3d[3][2] = model_z;

	const rpp_float cc[2] = {arCamera->mat[0][2],arCamera->mat[1][2]};
	const rpp_float fc[2] = {arCamera->mat[0][0],arCamera->mat[1][1]};

	rpp::arGetInitRot2_sub(err,R,t,cc,fc,ppos3d,ppos2d,n_pts,R_init, true,0,0,0);

	for(int i=0; i<3; i++)
		for(int j=0; j<3; j++)
			rot[i][j] = (ARFloat)R[i][j];

    return 0;
}


}  // namespace ARToolKitPlus
